Path Following of a Surface Vessel With Prescribed Performance in the Presence of Input Saturation and External Disturbances
Path Following of a Surface Vessel With Prescribed Performance in the Presence of Input Saturation and External Disturbances
复制标题
在存在输入饱和和外部干扰的情况下具有规定性能的水面舰艇的路径跟踪
DOI：
10.1109/tmech.2017.2756110
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发表时间：
2017-09
期刊：
影响因子：
--
通讯作者：
Feroskhan Mir
中科院分区：
文献类型：
--
作者：
Zheng Zewei;Feroskhan Mir
提出了一种在存在输入饱和和外部干扰的情况下具有规定性能的水面舰船路径跟踪控制器。基于水面舰艇的三自由度模型，设计的反步控制方案具有制导、姿态控制和速度控制三个功能部分。为了保证定位误差控制在规定的收敛速率和最大超调量范围内，利用误差变换函数建立了性能约束制导律。命令过滤器被纳入控制子部分，以限制虚拟控制的大小，同时避免涉及其时间导数的繁重计算。随后，由平滑开关函数控制的辅助系统以前所未有的方式发展，以补偿致动器的饱和约束。同时引入非线性扰动观测器来估计未知的外部扰动，提高系统的鲁棒性。结果表明，在所提出的控制下，不违反规定的瞬态和稳态跟踪性能界限，并且在存在输入饱和和干扰的情况下，所有闭环信号最终保持一致有界。仿真对比研究结果表明了该方法的有效性和优越性。
This paper presents a path following controller of a surface vessel with a prescribed performance in the presence of input saturation and external disturbances. Based on the three degrees-of-freedom model of the surface vessel, the designed backstepping control scheme features three functional parts, namely, guidance, attitude control, and velocity control. To guarantee that the position errors are confined within the prescribed convergence rates and maximum overshoot, a performance constrained guidance law is formulated with an error transformed function. Command filters are incorporated in the control subsections to limit the magnitude of the virtual controls and simultaneously avoid arduous computations involving their time derivatives. Subsequently, auxiliary systems that are governed by smooth switching functions are developed in an unprecedented manner to compensate for the saturation constraints on actuators. Nonlinear disturbance observers are concurrently introduced to estimate the unknown external disturbances for increasing system's robustness. It is demonstrated that under the proposed control, the prescribed transient and steady tracking performance bounds are never violated, and all closed-loop signals remain uniformly ultimately bounded, despite the presence of input saturation and disturbances. Results from a comparative simulation study illustrate the effectiveness and advantages of the proposed method.
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影响因子：
6.4
作者：
Li, Zhen;Sun, Jing;Oh, Soryeok
通讯作者：
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影响因子：
4.3
作者：
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DOI：
10.1016/j.automatica.2010.09.006
发表时间：
2010
期刊：
Autom.
影响因子：
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作者：
Wen Wang;C. Wen
通讯作者：
Wen Wang;C. Wen
影响因子：
6.4
作者：
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通讯作者：
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